キャリブレーションarXiv:1311.6674
ロボット製造セルにおける重力補償器のモデリング
Modelling of the gravity compensators in robotic manufacturing cells
重量産業用ロボットの重力補償器を対象に、幾何パラメータの同定とキャリブレーション精度を高める手法を提案し、実験で有効性を示した論文。
著者: Alexandr Klimchik, Yier Wu, Stéphane Caro, Claire Dumas, Benoît Furet, Anatol Pashkevich
分類: cs.RO
原文アブストラクト
The paper deals with the modeling and identification of the gravity compensators used in heavy industrial robots. The main attention is paid to the geometrical parameters identification and calibration accuracy. To reduce impact of the measurement errors, the design of calibration experiments is used. The advantages of the developed technique are illustrated by experimental results
